From cae47a6251d092a8950487db4b930b7ac4e078e0 Mon Sep 17 00:00:00 2001
From: rav4kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 17 Jul 2026 14:37:17 -0700
Subject: [PATCH] Cover low-speed mode changes without MPC faults

---
 .../lib/longitudinal_mpc_lib/long_mpc.py      |  2 +-
 .../test_accel_controller_closed_loop.py      | 25 +++++++++++++++++++
 2 files changed, 26 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index d5ea6a8968..c1f516508f 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -58,7 +58,7 @@ STOP_DISTANCE = 6.0
 CRUISE_MIN_ACCEL = -1.2
 CRUISE_MAX_ACCEL = 1.6
 CUSTOM_ACCEL_TRANSITION_FRAMES = 3
-CUSTOM_ACCEL_TRANSITION_MAX_SPEED = 0.3
+CUSTOM_ACCEL_TRANSITION_MAX_SPEED = 2.0
 MIN_X_LEAD_FACTOR = 0.5
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_accel_controller_closed_loop.py b/sunnypilot/selfdrive/controls/lib/tests/test_accel_controller_closed_loop.py
index 473158704c..1512ab42f4 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_accel_controller_closed_loop.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_accel_controller_closed_loop.py
@@ -740,3 +740,28 @@ def test_early_launch_transition_returns_to_stock_without_solver_fault(pre_frame
     assert controller.mpc_accel_max is None
     assert plant.planner.mpc.last_solution_status == 0
     np.testing.assert_array_equal(plant.planner.mpc.params[:, 1], ACCEL_MAX)
+
+
+@pytest.mark.parametrize("profile", range(3), ids=("eco", "normal", "sport"))
+@pytest.mark.parametrize("mode", ("disabled", "e2e"))
+def test_launch_transition_after_crossing_standstill_threshold(profile, mode):
+  _set_params(enabled=True, profile=profile)
+  plant = Plant(speed=0.29, actuator_delay=0.15, actuator_lag=0.20)
+  plant.acceleration = 0.5
+  plant.planner.a_desired = 0.5
+  plant.step(v_cruise=15.0)
+  assert plant.speed > 0.30
+
+  if mode == "disabled":
+    plant.planner.accel_personality_enabled = False
+    plant.planner._read_accel_controller_params = lambda: None
+  else:
+    plant.e2e = True
+
+  for _ in range(4):
+    plant.step(v_cruise=15.0)
+    controller = plant.planner.accel_controller_result
+    assert not controller.active
+    assert controller.mpc_accel_max is None
+    assert plant.planner.mpc.last_solution_status == 0
+    np.testing.assert_array_equal(plant.planner.mpc.params[:, 1], ACCEL_MAX)